Results 251 to 260 of about 1,018,744 (298)

IDENTIFICATION OF FLEXIBLE JOINTS IN VEHICLE STRUCTURES

Transactions of the Canadian Society for Mechanical Engineering, 1992
A probabilistic estimation method for identification of flexible joints in vehicle structures is presented. The method identifies the most important parameters of a joint model and estimates their values by using displacement measurements. Thus, this method can be used to develop simple, design-oriented joint models for preliminary structural design ...
Lee, Kwangju, Nikolaidis, Efstratios
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Control of industrial robots with flexible joints

Proceedings. 1987 IEEE International Conference on Robotics and Automation, 2005
Flexibilities in the manipulator structure limits its ability to perform high precision manipulation. In this paper, the effects of joint flexibility on the positioning performance of the end effector are considered. A "realistic" lumped-parameter dynamic model of the servo-mechanism is presented in order to develop a control structure to regulate the ...
Glenn R. Widmann, Shaheen Ahmad
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Active Control of Space Flexible-Joint/Flexible-Link Manipulator

2008 IEEE Conference on Robotics, Automation and Mechatronics, 2008
In this paper, active control of space manipulator with flexible-link and flexible-joint was investigated based on the singular perturbation method. Owing to the combined effects of the link and joint flexibilities, the dynamics model of this type of manipulator became more complex and led to a series of unsolved control system.
Qingxuan Jia, Xiaodong Zhang 0007, Hanxu Sun, Ming Chu   +3 more
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Robust control design for flexible-link/flexible-joint robots

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), 2002
We present an output feedback sliding mode control (OFSMC) architecture for slewing flexible joint and link robot structures. A decoupled two-channel OFSMC is used to servo the flexible structure and suppress residual vibrations. A separate sliding surface is specified for each channel.
David G. Wilson, Gregory P. Starr, Gordon G. Parker, Rush D. Robinett III   +3 more
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Determination of the rotary flexibility of the elbow joint

European Journal of Applied Physiology and Occupational Physiology, 1977
A method of determining quantitatively the rotary flexibility of the elbow joint was developed and its reliability tested. Examinations of the left elbow joint of 100 healthy men between the ages of 18 and 72 were performed, consisting of measurements of passive supination effected by a graduated external torque as well as of active supination and ...
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Adaptive control of a flexible joint manipulator

Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2002
In this paper the control of a flexible joint manipulator is designed using an adaptive output-feedback controller based on the backstepping design. The parameters of system are assumed to be unknown and only the motor position and link position measurements are used for the synthesis of the controller. A canonical state representation of the system is
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Analysis of Piping With Flexible Joints

Journal of Engineering for Industry, 1972
A method is described for the analysis of structural systems containing flexible joints. The formalism of mechanical systems theory is employed to show that there always exists at least one rigid-jointed system equivalent to a system with flexible joints.
P. K. Fung, N. C. Lind
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Control of flexible joint robots

Robotics and Computer-Integrated Manufacturing, 1992
A switching control scheme is described for flexible joint robots which does not use link jerk or acceleration feedback. The control scheme does not require the numerical differentiation of the velocity signal or the inversion of the inertial matrices.
F. Mrad, S. Ahmad
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PATH FOLLOWING FOR A FLEXIBLE JOINT ROBOT

IFAC Proceedings Volumes, 1991
Abstract A path following algorithm for flexible joint robots is presented. The algorithm is an on-line modification of the reference trajectory used by the robot’s control system. The path is represented by a vector function f(s), and the algorithm is based on on-line modification of the fourth order time derivative of the scalar path parameter s(t).
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Geometric Calibration of Robots with Flexible Joints and Links

Journal of Intelligent and Robotic Systems, 2002
zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Wisama Khalil, Sébastien Besnard
openaire   +2 more sources